Private aircraft and method of controlling the same

Abstract

A private aerial vehicle (PAV) and a control method thereof are provided to compensate for distortion of a speaker due to altitude change. The PAV provides communication through the speaker in an emergency situation. Specifically, the PAV includes an air pressure sensor configured to sense an external air pressure and a propulsion device configured to provide a propulsive force for flight. A speaker is provided and includes a housing having a preset internal air pressure. A controller is configured to adjust an acoustic signal provided to the speaker based on a difference between the external air pressure and the internal air pressure according to the altitude change.

Description

[0001] Cross-references to related applications

[0002] This application claims priority to Korean Patent Application No. 10-2020-0015517, filed on February 10, 2020, the disclosure of which is incorporated herein by reference. Technical Field

[0003] This invention relates to a personal air vehicle (PAV), and more specifically, to a PAV including a speaker and a method for controlling the same. Background Technology

[0004] In recent years, private aircraft (PAVs) have seen positive development. Because PAVs can take off and land vertically, they are aircraft that can move without a runway and utilize aerial transportation networks. PAVs can include indoor speakers for providing audio information to passengers and outdoor speakers for providing audio information to the outside world. In PAVs, altitude may change during flight, and due to variations in air pressure and temperature with altitude, speaker distortion may occur. Furthermore, PAVs include propulsion systems such as propellers, and the turbulence noise from these propulsion systems can also cause speaker distortion. Summary of the Invention

[0005] Therefore, the present invention provides a private aircraft (PAV) and its control method that compensates for speaker distortion caused by altitude changes. Furthermore, the present invention provides a private aircraft and its control method that provide communication via speaker in emergency situations.

[0006] According to one aspect of the invention, a private aircraft (PAV) may include: a pressure sensor, a propulsion device, a loudspeaker, and a controller, wherein the pressure sensor is configured to sense external air pressure; the propulsion device is configured to provide propulsion for flight; the loudspeaker includes a housing having a preset internal air pressure; and the controller is configured to adjust an acoustic signal provided to the loudspeaker based on the difference between the external air pressure and the internal air pressure as the altitude changes.

[0007] The controller can be configured to adjust the current value of the acoustic signal to eliminate the deviation corresponding to the distance the speaker's voice coil moves in the opposite direction of the housing based on the difference. The private aircraft may further include a temperature sensor configured to sense the external temperature, and the controller can be configured to adjust the acoustic signal based on the external temperature to compensate for the temperature-dependent movement of the speaker's voice coil.

[0008] The private aircraft may further include: a microphone configured to collect external noise, and a controller configured to adjust the acoustic signal to amplify the frequency domain corresponding to the external noise generated by the propulsion device. Additionally, the private aircraft may include: a transceiver configured to communicate with external devices, and a controller configured to operate a speaker to output an emergency sound with a preset frequency and preset volume in the event of a transceiver malfunction.

[0009] An emergency sound can be an acoustic signal that is not adjusted based on the difference between external and internal air pressure. In response to receiving an emergency sound from an external private aircraft via a microphone, the controller can be configured to: determine the altitude of the external private aircraft based on the deviation of the emergency sound, determine the distance to the external private aircraft based on the magnitude of the emergency sound, and determine the position of the external private aircraft based on both the altitude and the distance to the external private aircraft.

[0010] The controller can be configured to operate a transceiver to transmit the location of the external private aircraft to a rescue center server. The private aircraft may further include a horn mounted on the front surface of a loudspeaker, and the horn may extend beyond the radius of the propeller of the propulsion unit.

[0011] According to one aspect of the invention, a control method for a private aircraft (PAV) includes a barometric pressure sensor, a propulsion device, and a loudspeaker, wherein the barometric pressure sensor is configured to sense external air pressure, the propulsion device is configured to provide propulsion for flight, and the loudspeaker includes a housing having a preset internal air pressure. The method may include adjusting an acoustic signal provided to the loudspeaker based on the difference between the external air pressure and the internal air pressure as the altitude changes.

[0012] Adjusting the acoustic signal provided to the loudspeaker may include: adjusting the current value of the acoustic signal to eliminate a deviation corresponding to the distance the loudspeaker's voice coil moves in the opposite direction of the housing based on the difference. The private aircraft may further include a temperature sensor configured to sense the external temperature, and the method may include: adjusting the acoustic signal based on the external temperature to compensate for the temperature-dependent movement of the loudspeaker's voice coil.

[0013] The private aircraft may further include a microphone configured to collect external noise, and the method may further include: adjusting the acoustic signal to amplify the frequency domain corresponding to the external noise generated by the propulsion device. Additionally, the private aircraft may include a transceiver configured to communicate with external devices, and the method may include: in response to detecting an anomaly in the transceiver, operating a loudspeaker to output an emergency sound with a preset frequency and preset magnitude. The emergency sound may be an acoustic signal that is not adjusted based on the difference between external and internal air pressure.

[0014] The control method may further include: in response to receiving an emergency sound from an external private aircraft via a microphone, determining the altitude of the external private aircraft based on a deviation from the emergency sound; determining the distance to the external private aircraft based on the magnitude of the emergency sound; and determining the position of the external private aircraft based on both its altitude and distance. Furthermore, the control method may include: operating a transceiver to transmit the position of the external private aircraft to a rescue center server. The private aircraft may further include a horn disposed on the front surface of a loudspeaker, and the horn may extend beyond the radius of the propeller of the propulsion device. Attached Figure Description

[0015] These and / or other aspects of the invention will become more apparent and readily understood from the following description of exemplary embodiments presented in conjunction with the accompanying drawings, in which:

[0016] Figure 1 This is an external schematic diagram of a private aircraft according to an exemplary embodiment of the present invention.

[0017] Figure 2 This is a control block diagram of a private aircraft according to an exemplary embodiment of the present invention.

[0018] Figure 3 This is a cross-sectional view of a loudspeaker according to an exemplary embodiment of the present invention.

[0019] Figure 4 This is according to an exemplary embodiment of the present invention. Figure 3 An enlarged view of part A.

[0020] Figure 5 This is a schematic diagram illustrating the modulation of acoustic signals by a private aircraft according to an exemplary embodiment of the present invention.

[0021] Figure 6 This is a schematic diagram illustrating the change in inductance according to speaker temperature according to an exemplary embodiment of the present invention.

[0022] Figure 7 This is a schematic diagram illustrating a situation where a private aircraft determines the location of an external private aircraft according to an exemplary embodiment of the present invention.

[0023] Figure 8 This is a flowchart illustrating the control method of a private aircraft according to an exemplary embodiment of the present invention, which adjusts acoustic signals based on air pressure varying with altitude.

[0024] Figure 9 This is a flowchart illustrating the adjustment of acoustic signals based on external temperature in a control method for a private aircraft according to an exemplary embodiment of the present invention.

[0025] Figure 10 This is a flowchart illustrating the adjustment of acoustic signals based on external noise in a control method for a private aircraft according to an exemplary embodiment of the present invention.

[0026] Figure 11 This is a flowchart illustrating the output of an emergency sound when the transceiver malfunctions in a control method for a private aircraft according to an exemplary embodiment of the present invention.

[0027] Figure 12 This is a flowchart illustrating the process of receiving an emergency sound from an external private aircraft in a control method for a private aircraft according to an exemplary embodiment of the present invention. Detailed Implementation

[0028] Although the exemplary embodiments are described as using multiple units to perform the exemplary process, it is understood that the exemplary process can also be performed by one or more modules. Furthermore, it is understood that the term "controller / control unit" refers to a hardware device including a memory and a processor and specifically programmed to perform the processes described herein. The memory is configured to store modules, and the processor is specifically configured to execute said modules to perform one or more processes further described below.

[0029] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms “a,” “an,” and “described” are intended to include the plural forms as well, unless the context explicitly states that the plural forms are excluded. It will be further understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated feature, value, step, operation, element, and / or component, but do not exclude the presence or inclusion of one or more other features, values, steps, operations, elements, components, and / or groups thereof. As used herein, the term “and / or” includes any and all combinations of one or more of the associated enumerations.

[0030] Unless otherwise stated or clearly indicated from the context, the term "approximately" as used herein is understood to mean within the normal tolerance range in this art, such as within two standard deviations of the mean. "Approximately" can be understood as within 10%, 9%, 8%, 7%, 6%, 5%, 4%, 3%, 2%, 1%, 0.5%, 0.1%, 0.05%, or 0.01% of the stated value. Unless the context otherwise requires, the term "approximately" modifies all values ​​provided herein.

[0031] Throughout this specification, the same reference numerals denote the same elements. Not all elements of exemplary embodiments of the invention will be described, and descriptions well-known in the art or overlapping with exemplary embodiments will be omitted. It should be understood that when an element is referred to as being “connected” to another element, it can be directly or indirectly connected to the other element, wherein indirect connection includes “connection via a wireless communication network”.

[0032] Furthermore, when a component “comprises” or “includes” an element, the component may further include other elements without excluding them, unless there is a specific description to the contrary. As used herein, the singular forms “a,” “an,” and “described” are intended to include the plural forms as well, unless the context explicitly indicates that the plural forms are excluded.

[0033] As used herein, the terms “part,” “unit,” “block,” “component,” and “module” refer to a unit capable of performing at least one function or operation. For example, these terms may refer to at least one process performed by at least one piece of hardware (e.g., a field-programmable gate array (FPGA) and an application-specific integrated circuit (ASIC)) and at least one piece of software stored in memory or a processor. Reference numerals are used for ease of description but are not intended to indicate the order of each step. Unless the context clearly indicates otherwise, each step may be implemented in a different order than that shown.

[0034] In the following, exemplary embodiments of a private aircraft and its control method according to one aspect will be described in detail with reference to the accompanying drawings.

[0035] Figure 1 This is an external view of a private aircraft according to an exemplary embodiment of the present invention. (Refer to...) Figure 1 According to an exemplary embodiment, a private aircraft 10 may include a main body 11 and a propulsion device 12, wherein a user boards the main body 11 and the propulsion device 12 is configured to provide propulsion for flight.

[0036] The main body 11 may include a control device (not shown) or controller configured to operate the private aircraft 10 and a display device (not shown) configured to display the status of the private aircraft 10. Furthermore, the main body 11 may include a cockpit (not shown) and passenger seats (not shown), with the pilot residing in the cockpit and the passenger residing in the passenger seats. Additionally, the main body 11 may include at least one indoor speaker (not shown) or outdoor speaker (not shown), the indoor speaker configured to provide sound information to the occupants and the outdoor speaker configured to provide sound information to the outside.

[0037] like Figure 1As shown, the propulsion device 12 can be arranged on top of the main body 11 and can be configured to provide propulsion for the flight of the private aircraft 10, and can correspond to driving the propeller of the private aircraft 10 by converting the rotational force of the prime mover into thrust (e.g., forward force). However, the location and type of the propulsion device 12 are not limited to the example described above. There are no restrictions on the location and type of the propulsion device 12 that can provide propulsion for the flight of the private aircraft 10. In the following, the propulsion device 12 can be located on top of the main body, and the propeller is described as an example.

[0038] A private aircraft 10 according to an exemplary embodiment may include a horn 13 disposed on the front surface of an outdoor speaker. The horn 13 corresponds to a tapered tube to provide high radiation impedance to the diaphragm of the outdoor speaker and may be configured to radiate into space while amplifying directional sound waves by increasing the cross-sectional area from the opening near the diaphragm to the end.

[0039] At this point, the horn 13 can extend beyond the radius of the propulsion device 12 to block turbulence noise generated by the propulsion device 12. Specifically, in the opening of the horn 13, the opening furthest from the diaphragm (e.g., the end of the horn 13) can be located in front of the end of the propeller of the propulsion device 12 relative to the body 11. Therefore, the horn 13 can be configured to block turbulence noise generated by the propulsion device 12, thereby preventing distortion of the sound output from the outdoor loudspeaker that may be caused by turbulence noise.

[0040] Figure 2 This is a control block diagram of a private aircraft according to an exemplary embodiment of the present invention. (Refer to...) Figure 2 A private aircraft 10 according to an exemplary embodiment may include: a barometric pressure sensor 110, a temperature sensor 120, a microphone 130, a transceiver 140, a controller 150, a propulsion unit 160, a speaker 170, and a storage device 180. The barometric pressure sensor 110 is configured to sense external air pressure; the temperature sensor 120 is configured to sense external temperature; the microphone 130 is configured to collect external noise; the transceiver 140 is configured to communicate with external electronic devices; the controller 150 is configured to modulate the acoustic signal provided to the speaker 170; the propulsion unit 160 is configured to provide propulsion for flight; the speaker 170 outputs sound based on the acoustic signal; and the storage device 180 is configured to store various information required for control.

[0041] According to an exemplary embodiment, the barometric pressure sensor 110 can be disposed on a surface of the body 11 to sense external air pressure and can correspond to a known type of barometer. In other words, the barometric pressure sensor 110 can be configured to output data about external air pressure by detecting air pressure that changes in real time according to changes in altitude. According to an exemplary embodiment, the barometric pressure sensor 110 can correspond to a known type of altimeter other than a barometer and can be configured to determine the external air pressure corresponding to the altitude by calculating the altitude data, and can be configured to output data about the external air pressure.

[0042] According to an exemplary embodiment, a temperature sensor 120 can be disposed on a surface of the body 11 to sense external temperature, and can correspond to a known type of thermometer. In other words, the temperature sensor 120 can be configured to detect temperature changes based on real-time changes in height and output data about the external temperature. According to an exemplary embodiment, a microphone 130 can be disposed on a surface of the body 11 to receive external noise, and can correspond to a known type of microphone.

[0043] Specifically, microphone 130 can be configured to collect external noise (e.g., turbulence noise) generated by the propeller of propulsion device 12 and can also be configured to collect sound output from an external aircraft. In this case, according to an exemplary embodiment, microphone 130 can be configured as a stereo microphone including multiple microphone elements and can be configured to collect information about the direction of the received sound in addition to the volume of the received sound.

[0044] Transceiver 140 can be configured to send and receive data with external electronic devices via wireless communication using known communication protocols. Specifically, transceiver 140 can be configured to receive Global Positioning System (GPS) signals from satellites and can be configured to send and receive data with external vehicles or external servers. Controller 150, according to an exemplary embodiment, can be configured to modulate acoustic signals provided to speaker 170 to compensate for sound distortion that may occur due to the flight of the private aircraft 10.

[0045] Specifically, according to an exemplary embodiment, controller 150 may be configured to adjust the acoustic signal provided to speaker 170 by reflecting changes in external air pressure caused by changes in the altitude of the private aircraft 10 during flight. In other words, controller 150 may be configured to adjust the acoustic signal provided to speaker 170 based on the difference between the external air pressure varying with altitude and the internal air pressure of the speaker 170's housing. In other words, controller 150 may be configured to adjust the current value of the acoustic signal to eliminate deviations corresponding to the distance by which the voice coil of speaker 170 moves in the opposite direction of the housing based on the difference between the external air pressure and the internal air pressure of the speaker 170's housing.

[0046] Furthermore, the controller 150 can be configured to adjust the acoustic signal provided to the speaker 170 by reflecting temperature changes based on changes in altitude as the private aircraft 10 flies. In other words, the controller 150 can be configured to adjust the acoustic signal based on the external temperature sensed by the temperature sensor 120 to compensate for the movement of the voice coil of the speaker 170 as the temperature changes.

[0047] Furthermore, the controller 150 can be configured to adjust the acoustic signal supplied to the speaker 170 in response to external noise. For example, the controller 150 can be configured to adjust the acoustic signal to eliminate turbulence noise caused by the propulsion device 160. In other words, the controller 150 can be configured to adjust the acoustic signal supplied to the speaker 170 in response to at least one of external air pressure changes, temperature changes, or external noise. How the acoustic signal is adjusted will be described in detail later. According to an exemplary embodiment, the controller 150 can be configured to operate the speaker 170 to output an emergency sound with a preset frequency and preset volume in response to detecting an anomaly in the transceiver 140.

[0048] At this point, the emergency sound may correspond to an acoustic signal that is not adjusted based on changes in external air pressure. In response to receiving an emergency sound from an external private aircraft via microphone 130, controller 150 may be configured to determine the altitude of the external private aircraft based on the deviation of the emergency sound, and to determine the distance to the external private aircraft based on the magnitude of the emergency sound.

[0049] Controller 150 can be configured to determine the location of an external private aircraft based on a determined altitude and distance, and operate transceiver 140 to transmit the determined location to a rescue center server. Emergency sounds will be described in detail later. Controller 150 may include at least one memory and at least one processor, in which a program for performing the operations described above and below can be stored, and the processor can execute the stored program. In the case of multiple memories and processors, they can be integrated into a single chip or located in physically separate locations.

[0050] The propulsion device 160 according to the exemplary embodiment is a device configured to provide propulsion for flight, and can correspond to Figure 1 The propulsion device 12 is located within the vehicle. The loudspeaker 170 may include at least one of an indoor loudspeaker configured to provide sound information to occupants or an outdoor loudspeaker configured to provide sound information to the outside, and may be configured to output sound based on acoustic signals provided from the controller 150. The structure of the loudspeaker 170 will be described in detail again later.

[0051] The storage device 180 according to an exemplary embodiment can be configured to store various information required to control the private aircraft 10. For example, the storage device 180 can be configured to store information about deviations corresponding to the distance the voice coil moves according to external air pressure, information about the electromagnetic force applied to the voice coil at a reference temperature, and so on. It can be responsive to... Figure 2 At least one component can be added or removed depending on the performance of the components of the private aircraft 10 shown. Furthermore, those skilled in the art will readily understand that the relative positions of the components can be changed in response to the performance or structure of the system.

[0052] Each configuration of the private aircraft 10 has been described above. The controller 150 for regulating acoustic signals will be described in detail below. Figure 3 This is a cross-sectional view of a loudspeaker according to an exemplary embodiment of the present invention. Figure 4 yes Figure 3 An enlarged view of part A. Figure 5 This is a schematic diagram illustrating the modulation of acoustic signals by a private aircraft according to an exemplary embodiment of the present invention.

[0053] Reference Figure 3 The loudspeaker 170 may include a loudspeaker unit 170-1 configured to output sound and a housing 170-2 accommodating the loudspeaker unit 170-1. The loudspeaker unit 170-1 may include a magnet 171, a top plate 172, and a yoke 173. The magnet 171 is configured to generate magnetic flux; the top plate 172 forms a path for the magnetic flux generated in the magnet 171; and the yoke 173 supports the magnet 171. The yoke 173 may include a back plate 173-1 disposed at the rear to support the magnet 171 and magnetic pole pieces 173-2 projecting forward from the center of the back plate 173-1.

[0054] Furthermore, the loudspeaker unit 170-1 may include: a frame 174, a voice coil 175, a spool 176, a diaphragm (conical paper) 177, and a damper 178. The voice coil 175 is arranged in the magnetic gap between the top plate 172 and the magnetic pole piece 173-2 and interacts with the magnetic flux in the magnetic gap to move in the front-back direction when an electric current is applied. The voice coil 175 is wound on the spool 176. The diaphragm 177 vibrates according to the movement of the voice coil 175 to generate sound pressure. The damper 178 guides the movement direction of the voice coil 175 in the front-back direction and restricts the movement in the left-right direction.

[0055] The housing 170-2 may have a preset internal air pressure, for example, the internal air pressure may correspond to 1 atm, which corresponds to atmospheric pressure at ground level. Typically, at atmospheric pressure at ground level, when no current is applied, the voice coil 175 can be arranged in the center of the entire area of ​​the top plate 172. (Refer to...) Figure 4 When no current is applied, the displacement of the voice coil 175 can be 0.

[0056] Magnetic lines of force formed at the N pole of magnet 171 can pass through the top plate 172, the magnetic pole piece 173-2, and the back plate 173-1 to reach the S pole of magnet 171. These magnetic lines of force can be formed perpendicular to the voice coil 175. When current is applied to the voice coil 175, electromagnetic force is induced in the voice coil 175 through the magnetic field, and the voice coil 175 vibrates due to the electromagnetic force.

[0057] Voice coil 175 vibrates, causing diaphragm 177 to vibrate, and diaphragm 177 vibrates in response to the movement of voice coil 175, generating sound pressure. Voice coil 175 can be configured to perform linear motion around displacement 0 between a first displacement (x1) and a second displacement (x2) based on the magnitude of the applied current. In other words, voice coil 175 can vibrate. The altitude of the private aircraft 10 can vary based on flight, and the external air pressure can vary accordingly. In other words, as altitude increases, the external air pressure can be configured to vary in the descending direction relative to atmospheric pressure at ground level (e.g., approximately 1 atmosphere).

[0058] Accordingly, as the external air pressure changes with the flight of the private aircraft 10, a difference may occur between the external air pressure and the internal air pressure of the casing 170-2, which may cause distortion in the speaker 170. Specifically, as altitude increases, the external air pressure is lower than the internal air pressure of the casing 170-2, so the voice coil 175 and the diaphragm 177 may move in the opposite direction to the casing 170-2 (e.g., towards x2).

[0059] Specifically, the voice coil 175, due to the pressure difference, is not located in the center of the entire area of ​​the top plate 172 when no current is applied, but can be positioned by moving it in the opposite direction to the housing 170-2. In other words, the voice coil 175, due to the pressure difference, may move to a position that it would only be in when current is applied at atmospheric pressure at ground level, even when no current is applied. Specifically, when an acoustic signal is applied to the voice coil 175, the output sound may be different from the sound at atmospheric pressure at ground level, and distortion may occur.

[0060] As a result, voice coil 175, due to the air pressure difference, can be located at the same position as where the deviation would be applied under atmospheric pressure on the ground, even without an applied current. Therefore, as Figure 5 As shown, the output sound before gain adjustment can drift as if a constant deviation had been applied to the input acoustic signal.

[0061] To compensate for distortion in the loudspeaker 170 based on the pressure difference, the controller 150 can be configured to adjust the acoustic signal supplied to the loudspeaker 170 based on the difference between the external air pressure, which varies with altitude, and the internal air pressure of the housing 170-2. In other words, the controller 150 can be configured to adjust the current value of the acoustic signal to eliminate deviations corresponding to the degree of movement of the voice coil 175 of the loudspeaker 170 according to the difference between the external air pressure and the internal air pressure of the housing 170-2.

[0062] At this point, the deviation corresponding to the movement distance of the voice coil 175 can correspond to the magnitude of the DC current required to move the voice coil 175 a corresponding distance under atmospheric pressure on the ground. In other words, the controller 150 can be configured to generate an adjusted acoustic signal by subtracting the current value corresponding to the deviation from the current value corresponding to the existing acoustic signal. In other words, as... Figure 5 As shown, the controller 150 can be configured to provide the speaker 170 with an input acoustic signal minus a current value equal to the deviation, so that the sound output from the speaker 170 can be the desired sound.

[0063] Figure 6 This is a schematic diagram illustrating the change in inductance of a speaker according to a speaker temperature, based on an exemplary embodiment of the present invention. Generally, the higher the altitude, the lower the external temperature; therefore, the speaker 170 in the private aircraft 10 may be exposed to a low-temperature environment. This temperature change causes a change in the magnetic flux density of the magnet 171 of the speaker 170, and this change in magnetic flux density causes a change in the output of the speaker 170. Depending on the change in the output of the speaker 170, sound quality distortion may occur.

[0064] In other words, changes in magnetic flux density due to temperature can lead to changes in electromagnetic force, and the strength of the force acting on voice coil 175 changes according to these changes, thereby altering the displacement of voice coil 175. The displacement of voice coil 175 is related to its inductance (e.g., the inductance of speaker 170). In other words, as... Figure 6 As shown, the change in inductance of voice coil 175 can vary based on temperature because the strength of the force acting on voice coil 175 changes by altering the magnetic flux density of magnet 171 according to temperature. This change in inductance also affects the movement of voice coil 175, thereby influencing the output of loudspeaker 170.

[0065] The controller 150 can be configured to adjust the acoustic signal provided to the speaker 170 to compensate for changes in the output of the speaker 170 based on temperature. Specifically, the controller 150 can be configured to compare an external temperature sensed by the temperature sensor 120 with a preset reference temperature and adjust the acoustic signal provided to the speaker 170 based on the comparison result.

[0066] In response to determining that the external temperature differs from a preset reference temperature, the controller 150 can be configured to determine a compensation current based on the external temperature to compensate for changes in the magnetic flux of the speaker 170 with respect to temperature, and to adjust the acoustic signal supplied to the speaker 170 based on the determined compensation current. In other words, the controller 150 can be configured to determine a compensation current such that the output of the speaker 170 at the preset reference temperature matches the output of the speaker 170 at the external temperature.

[0067] The controller 150 can be configured to compare the strength of an electromagnetic force (e.g., a first electromagnetic force) acting on the voice coil 175 at the current external temperature with the strength of an electromagnetic force (e.g., a second electromagnetic force) acting on the voice coil 175 at a preset reference temperature, and can be configured to determine a compensation current capable of compensating for the difference between the strength of the first electromagnetic force and the strength of the second electromagnetic force.

[0068] Subsequently, controller 150 can be configured to determine a compensation current for generating an electromagnetic force having an intensity equal to the difference between a first electromagnetic force and a second electromagnetic force, and can be configured to adjust the acoustic signal to be provided to speaker 170 by adding or subtracting the compensation current from the acoustic signal provided to speaker 170. Specifically, when the first electromagnetic force is less than the second electromagnetic force, controller 150 can be configured to add the compensation current for generating the electromagnetic force to the current provided to speaker 170, the electromagnetic force having an intensity equal to the difference between the first and second electromagnetic forces. Depending on the compensation current, the second electromagnetic force can act on voice coil 175, ensuring consistent output of speaker 170 even when the external temperature differs from a reference temperature, due to the same electromagnetic force acting at the reference temperature. Therefore, speaker 170 can be configured to output sound without loss and prevent sound quality loss.

[0069] Alternatively, when the first electromagnetic force is greater than the second electromagnetic force, the controller 150 can be configured to subtract a compensation current for generating the electromagnetic force from the current supplied to the speaker 170, the electromagnetic force having a strength equal to the difference between the first and second electromagnetic forces. Based on the compensation current, the second electromagnetic force can act on the voice coil 175, ensuring consistent output of the speaker 170 even when the external temperature differs from a reference temperature, due to the same electromagnetic force acting at the reference temperature. Therefore, the speaker 170 can be configured to output sound without loss of quality and prevent sound quality degradation.

[0070] The controller 150 can be configured to adjust the acoustic signal to amplify the frequency domain corresponding to external noise collected by the microphone 130, to prevent distortion of the speaker 170 due to external noise generated by the propulsion device 160. Accordingly, the microphone 130 can be located at the end of the horn 13 through which sound is output, and the microphone 130 can be configured to collect external noise (e.g., turbulence noise) that affects the sound transmitted to the user. Specifically, the controller 150 can be configured to determine a compensation current, thereby increasing the sound pressure of the sound output corresponding to the sound pressure of the external noise, and the controller 150 can be configured to adjust the acoustic signal by applying a compensation current.

[0071] As described above, the private aircraft 10 can be configured to adjust the acoustic signal provided to the speaker 170 in response to at least one of external air pressure changes, temperature changes, or external noise, thereby providing undistorted sound. The adjustment of the acoustic signal has been described above. Communication with an external private aircraft via sound will be described in detail below.

[0072] Figure 7 This is a schematic diagram illustrating a situation where a private aircraft, according to an exemplary embodiment of the present invention, determines the location of an external private aircraft. (Refer to...) Figure 7 In response to the detection of an anomaly in transceiver 140, controller 150 can be configured to operate speaker 170 to output an emergency sound with a preset frequency and preset magnitude (e.g., sound pressure level).

[0073] In other words, when the private aircraft 10 is unable to operate due to a failure to receive a GPS signal caused by a malfunction of the transceiver 140, according to an exemplary embodiment, it can be configured to perform communication for a rescue request by outputting an emergency sound via the speaker 170. In this case, the emergency sound may correspond to an acoustic signal that is not adjusted according to changes in external air pressure. In other words, although there is a pressure difference between the external air pressure detected by the barometric pressure sensor 110 and the internal air pressure of the speaker 170 housing 170-2, the controller 150 may not adjust the acoustic signal corresponding to the emergency sound based on the pressure difference.

[0074] Based on this, another device receiving the emergency sound can be configured to determine the altitude of the private aircraft 10 that sent the emergency sound based on the degree of distortion of the emergency sound according to the air pressure difference. In response to receiving an emergency sound from the external private aircraft 20 via the microphone 130, the controller 150 can be configured to determine the altitude of the external private aircraft based on the deviation of the emergency sound.

[0075] In other words, in response to receiving a sound with a preset frequency, the controller 150 can be configured to identify the received sound as an emergency sound and determine, based on the degree of drift of the emergency sound, a deviation corresponding to the distance by which the voice coil in the external private aircraft 20 moves in the opposite direction of the outer shell due to the pressure difference.

[0076] At this time, the controller 150 can be configured to determine the external air pressure at the location of the external private aircraft 20 based on information corresponding to the deviation of the voice coil moving according to the external air pressure, and to determine the altitude of the external private aircraft 20 based on information about the correlation between external air pressure and altitude.

[0077] Furthermore, the controller 150 can be configured to determine the distance to the external private aircraft 20 based on the magnitude of the emergency sound. Since the emergency sound is output at a preset magnitude, the controller 150 can be configured to determine the attenuation level of the received emergency sound by comparing the magnitude of the emergency sound received via the microphone 130 with the preset magnitude, taking into account the attenuation coefficient of the air medium, and can be configured to determine the distance to the external private aircraft 20 as the distance corresponding to the attenuation level.

[0078] Controller 150 can be configured to determine the location of the external private aircraft 20 based on its determined altitude and distance, and can be configured to operate transceiver 140 to transmit the location of the external private aircraft 20 to a rescue center server. In other words, in response to receiving an emergency call from the external private aircraft 20, private aircraft 10 can be configured to determine the location of the external private aircraft 20 based on the emergency call, so that by transmitting the determined location to the rescue center server, the external private aircraft 20 can be rescued when rescue equipment is sent to it from the rescue center.

[0079] Hereinafter, a control method for a private aircraft 10 according to an exemplary embodiment will be described. The private aircraft 10 according to the above embodiment can be applied to the control method for the private aircraft 10 described below. Therefore, unless specifically mentioned, reference will be made to... Figures 1 to 7 The description can also be applied to the control method of the private aircraft 10 according to the exemplary implementation.

[0080] Figure 8 This is a flowchart illustrating the adjustment of acoustic signals based on air pressure varying with altitude in a control method for a private aircraft according to an exemplary embodiment of the present invention. (Refer to...) Figure 8 According to an exemplary embodiment, the private aircraft 10 can be configured to use a barometric pressure sensor 110 to sense external air pressure (step 810).

[0081] The altitude of the private aircraft 10 can vary based on flight, and the external air pressure can vary accordingly. In other words, as altitude increases, the external air pressure can be configured to vary in the descent direction relative to atmospheric pressure at ground level (e.g., approximately 1 atmosphere). Consequently, as the external air pressure changes with the flight of the private aircraft 10, a difference may arise between the external air pressure and the internal air pressure of the outer shell 170-2, and consequently, the speaker 170 may experience distortion.

[0082] Specifically, as the height increases, the external air pressure is lower than the internal air pressure of the housing 170-2, and accordingly, the voice coil 175 and the diaphragm 177 can move in the opposite direction of the housing 170-2 (e.g., towards x2). Specifically, the voice coil 175 is not located in the middle of the entire area of ​​the top plate 172 when no current is applied due to the air pressure difference, but can be positioned by moving in the opposite direction of the housing 170-2.

[0083] In other words, due to the pressure difference, the voice coil 175 may shift to a position that it would only be in when an electric current is applied at atmospheric pressure at ground level, even without an applied current. Specifically, when an acoustic signal is applied to the voice coil 175, the output sound may differ from the sound under atmospheric pressure at ground level, and distortion may occur. As a result, the voice coil 175 may also be located at the same position as the position under atmospheric pressure at ground level, even without an applied current, due to the pressure difference.

[0084] To compensate for distortion in the speaker 170 based on the pressure difference, the private aircraft 10 according to an exemplary embodiment can be configured to determine the difference between the external air pressure and the internal air pressure of the outer casing 170-2 (step 820), and can be configured to adjust the acoustic signal provided to the speaker 170 based on the difference (step 830). In other words, the controller 150 can be configured to adjust the current value of the acoustic signal to eliminate the deviation corresponding to the degree of movement of the voice coil 175 of the speaker 170 according to the difference between the external air pressure and the internal air pressure of the outer casing 170-2. In this case, the deviation corresponding to the movement distance of the voice coil 175 can correspond to the magnitude of the DC current required to move the voice coil 175 a corresponding distance at atmospheric pressure on the ground.

[0085] Figure 9 This is a flowchart illustrating the adjustment of acoustic signals based on external temperature in a control method for a private aircraft according to an exemplary embodiment of the present invention. (Refer to...) Figure 9 According to an exemplary embodiment, the private aircraft 10 can be configured to use temperature sensor 120 to sense the external temperature (step 910).

[0086] Generally, the higher the altitude, the lower the external temperature. Consequently, the speaker 170 in the private aircraft 10 may be exposed to a low-temperature environment. This temperature change causes a change in the magnetic flux density of the magnet 171 of the speaker 170, and this change in magnetic flux density causes a change in the output of the speaker 170. Depending on the change in the output of the speaker 170, sound quality distortion may occur. In other words, the change in magnetic flux density due to temperature can lead to a change in electromagnetic force, and the strength of the force acting on the voice coil 175 can change according to the change in electromagnetic force, thereby altering the displacement of the voice coil 175.

[0087] According to an exemplary embodiment, the private aircraft 10 can be configured to adjust the acoustic signal based on the external temperature to compensate for the temperature-dependent movement of the voice coil 175 (step 920). Specifically, the controller 150 can be configured to compare the external temperature sensed by the temperature sensor 120 with a preset reference temperature and adjust the acoustic signal provided to the speaker 170 based on the comparison result.

[0088] In response to determining that the external temperature differs from a preset reference temperature, the controller 150 can be configured to determine a compensation current based on the external temperature to compensate for changes in the magnetic flux of the speaker 170 with respect to temperature, and to adjust the acoustic signal supplied to the speaker 170 based on the determined compensation current. In other words, the controller 150 can be configured to determine a compensation current such that the output of the speaker 170 at the preset reference temperature matches the output of the speaker 170 at the external temperature.

[0089] Figure 10 This is a flowchart illustrating the adjustment of acoustic signals based on external noise in a control method for a private aircraft according to an exemplary embodiment of the present invention. (Refer to...) Figure 10 According to an exemplary embodiment, the private aircraft 10 can be configured to use microphone 130 to collect external noise (step 1010) and adjust the acoustic signal to amplify the frequency domain corresponding to the external noise generated by the propulsion device 160 (step 1020).

[0090] Accordingly, microphone 130 may be located at the end of speaker 13, through which sound is output, and microphone 130 may be configured to collect external noise (e.g., turbulence noise) that affects the sound transmitted to the user. Specifically, controller 150 may be configured to determine a compensation current, thereby increasing the sound pressure of the sound output corresponding to the external noise, and adjusting the acoustic signal by applying the compensation current.

[0091] Figure 11 This is a flowchart illustrating the output of an emergency sound when a transceiver malfunctions (e.g., fails, malfunctions, etc.) in a control method for a private aircraft according to an exemplary embodiment of the present invention. (Refer to...) Figure 11 In response to the detection of an anomaly in transceiver 140 ("Yes" in step 1110), private aircraft 10 can be configured to operate speaker 170 to output an emergency sound with a preset frequency and preset volume (step 1120).

[0092] In other words, when the private aircraft 10 is unable to fly due to a failure to receive a GPS signal caused by a malfunction of the transceiver 140, it can be configured to perform communications for a rescue request by outputting an emergency sound via the speaker 170. In this case, the emergency sound may correspond to an acoustic signal that is not adjusted according to changes in external air pressure. In other words, although there is a pressure difference between the external air pressure detected by the pressure sensor 110 and the internal air pressure of the speaker 170's housing 170-2, the controller 150 may not adjust the acoustic signal corresponding to the emergency sound based on the pressure difference.

[0093] Based on this, another device that receives the emergency sound can be configured to determine the altitude of the private aircraft 10 that sent the emergency sound based on the degree of distortion of the emergency sound according to the pressure difference.

[0094] Figure 12 This is a flowchart illustrating the receiving of an emergency sound from an external private aircraft in a control method for a private aircraft according to an exemplary embodiment of the present invention. (Refer to...) Figure 12 When an emergency sound is received ("Yes" in step 1210), the private aircraft 10 according to the exemplary embodiment can be configured to determine the altitude of the external private aircraft 20 based on the deviation of the emergency sound (step 1220). In other words, in response to receiving a sound with a preset frequency, the controller 150 can be configured to identify the received sound as an emergency sound and determine a deviation corresponding to the distance that the voice coil in the external private aircraft 20 moves in the opposite direction of the outer shell due to the pressure difference, based on the degree of drift of the emergency sound.

[0095] At this point, controller 150 can be configured to determine the external air pressure at the location of external private aircraft 20 based on information about the deviation corresponding to the distance the voice coil moves according to external air pressure, and can be configured to determine the altitude of external private aircraft 20 based on information about the correlation between external air pressure and altitude. Private aircraft 10 according to an exemplary embodiment can be configured to determine the distance to external private aircraft 20 based on the magnitude of an emergency sound (step 1230).

[0096] Since the emergency sound is output at a preset size, the controller 150 can be configured to determine the attenuation level of the received emergency sound by comparing the size of the emergency sound received via the microphone 130 with the preset size based on the attenuation coefficient of the air medium, and can be configured to determine the distance corresponding to the attenuation level as the distance to the external private aircraft 20.

[0097] Private aircraft 10 can be configured to determine the location of external private aircraft 20 based on a determined altitude and distance (step 1240), and send the determined location to a rescue center server (step 1250). In other words, in response to receiving an emergency call from external private aircraft 20, private aircraft 10 can be configured to determine the location of external private aircraft 20 based on the emergency call, so that external private aircraft 20 can be rescued when rescue equipment is sent to external private aircraft 20 by sending the determined location to the rescue center server.

[0098] According to one aspect of a private aircraft (PAV) and its control method, speaker distortion caused by altitude changes can be compensated, and undistorted sound information can be provided to the user. Furthermore, according to one aspect of the private aircraft and its control method, communication can be provided via the speaker in emergency situations, thereby responding to communication device malfunctions.

[0099] Furthermore, the disclosed exemplary embodiments can be implemented as a recording medium storing computer-executable instructions. The instructions can be stored as program code, and when executed by a processor, the instructions can generate program modules to perform the operations of the disclosed embodiments. The recording medium can be implemented as a non-transitory computer-readable recording medium.

[0100] Non-transitory computer-readable recording media can include all types of recording media that store commands that can be interpreted by a computer. For example, non-transitory computer-readable recording media can be ROM, RAM, magnetic tape, magnetic disk, flash memory, optical data storage devices, and so on.

[0101] Therefore, exemplary embodiments of the present invention have been described with reference to the accompanying drawings. It will be apparent to those skilled in the art that the present invention can be implemented in other forms than the exemplary embodiments described above without altering the technical concept or essential characteristics of the invention. The above exemplary embodiments are merely examples and should not be interpreted in a restrictive sense.

Claims

1. A personal aerial vehicle comprising: an air pressure sensor configured to sense an external air pressure; a propulsion device configured to provide a propulsion force for flight; a speaker including a housing having a preset internal air pressure; a horn disposed on a front surface of the speaker, the horn corresponding to a tube having a taper and extending beyond a radius of a propeller of the propulsion device to block turbulent flow noise generated by the propulsion device; and a controller configured to adjust an acoustic signal provided to the speaker based on a difference between the external air pressure and the internal air pressure according to a change in altitude; wherein the controller is configured to generate an adjusted acoustic signal by subtracting a current value corresponding to a deviation from a current value corresponding to an existing acoustic signal, provide the adjusted acoustic signal to the speaker to cancel the deviation, the deviation corresponding to a distance that a voice coil of the speaker moves in an opposite direction of the housing according to the difference. 2.The personal aerial vehicle of claim 1, further comprising: a temperature sensor configured to sense an external temperature; wherein the controller is configured to adjust the acoustic signal based on the external temperature to compensate for movement of the voice coil of the speaker that varies according to the temperature. 3.The personal aerial vehicle of claim 1, further comprising: a microphone configured to collect external noise; wherein the controller is configured to adjust the acoustic signal to amplify a frequency domain corresponding to the external noise generated by the propulsion device. 4.The personal aerial vehicle of claim 3, further comprising: a transceiver configured to communicate with an external device; wherein the controller is configured to operate the speaker to output an emergency sound having a preset frequency and a preset size in response to detecting an abnormality of the transceiver. The emergency sound is an acoustic signal that is not adjusted based on the difference between the external air pressure and the internal air pressure.

5. The personal aircraft of claim 4, wherein, In response to receiving, through the microphone, an emergency sound from an external personal aerial vehicle, the controller is configured to determine an altitude of the external personal aerial vehicle based on a deviation of the emergency sound, determine a distance to the external personal aerial vehicle based on a size of the emergency sound, and determine a location of the external personal aerial vehicle based on the altitude of the external personal aerial vehicle and the distance to the external personal aerial vehicle.

6. The personal aircraft of claim 5, wherein, The controller is configured to operate the transceiver to transmit the location of the external personal aerial vehicle to a rescue center server.

7. The personal aircraft of claim 6, wherein, 8.A control method of a personal aerial vehicle including an air pressure sensor configured to sense an external air pressure, a propulsion device configured to provide a propulsion force for flight, and a speaker including a housing having a preset internal air pressure, the method comprising: adjusting, by a controller, an acoustic signal provided to the speaker based on a difference between the external air pressure and the internal air pressure according to a change in altitude; wherein the controller generates an adjusted acoustic signal by subtracting a current value corresponding to a deviation from a current value corresponding to an existing acoustic signal, provides the adjusted acoustic signal to the speaker to cancel the deviation, the deviation corresponding to a distance that a voice coil of the speaker moves in an opposite direction of the housing according to the difference. ​ The private aircraft further includes a horn disposed on a front surface of the speaker, the horn corresponding to a tube having a taper and extending beyond a radius of a propeller of the propulsion device to block turbulent flow noise generated by the propulsion device.

9. The control method according to claim 8, wherein The private aircraft further includes a temperature sensor configured to sense an outside temperature, The method further includes: adjusting, by the controller, the acoustic signal based on the outside temperature to compensate for movement of a voice coil of the speaker that varies according to the temperature.

10. The control method according to claim 8, wherein The private aircraft further includes a microphone configured to collect outside noise, The method further includes: adjusting, by the controller, the acoustic signal to amplify a frequency domain corresponding to the outside noise generated by the propulsion device.

11. The control method according to claim 10, wherein The private aircraft further includes a transceiver configured to communicate with an external device, The method further includes: operating, by the controller, the speaker to output an emergency sound having a preset frequency and a preset size when an abnormality exists in the transceiver.

12. The control method according to claim 11, wherein The emergency sound is the acoustic signal that is not adjusted based on a difference between an outside air pressure and an inside air pressure. 13.The control method of claim 12, further comprising: determining, by the controller, a height of an external private aircraft based on a deviation of the emergency sound in response to receiving the emergency sound from the external private aircraft through the microphone; determining, by the controller, a distance to the external private aircraft based on a size of the emergency sound; determining, by the controller, a location of the external private aircraft based on the height of the external private aircraft and the distance to the external private aircraft. 14.The control method of claim 13, further comprising: operating, by the controller, the transceiver to transmit the location of the external private aircraft to a rescue center server.

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